Type of Document Dissertation Author Gruszka, Aleksandra URN etd-06052012-163734 Title Some Tracking Problems for Aerospace Models with Input Constraints Degree Doctor of Philosophy (Ph.D.) Department Mathematics Advisory Committee
Advisor Name Title Malisoff, Michael Committee Chair Lawson, Jimmie Committee Member Litherland, Richard Committee Member Neubrander, Frank Committee Member Yakimov, Milen Committee Member Marx, Brian Dean's Representative Keywords
- control theory
- dynamical systems
- aerospace engineering
- input constraints
- robust tracking
Date of Defense 2012-04-20 Availability unrestricted Abstract We study tracking controller design problems for keymodels of planar vertical takeoff and landing (PVTOL) aircraft and
unmanned air vehicles (UAVs). The novelty of our PVTOL work is the
global boundedness of our controllers in the decoupled coordinates,
the positive uniform lower bound on the thrust controller, the
applicability of our work to cases where the velocity measurements may
not be available, the uniform global asymptotic stability and uniform
local exponential stability of our closed loop tracking dynamics, the
generality of our class of trackable reference trajectories, and the
input-to-state stability of the controller performance under actuator
errors of arbitrarily large amplitude. The significance of our UAV
results is the generality of the trackable trajectories, the
input-to-state stability properties of the tracking dynamics with
respect to additive uncertainty on the controllers, and our ability to
satisfy command amplitude and command rate constraints as well as
state dependent command constraints and a state constraint on the
velocity. Our work is based on a Matrosov approach for converting a
nonstrict Lyapunov function for the UAV tracking dynamics into a
strict one, in conjunction with asymptotic strict Lyapunov function
methods and bounded backstepping.
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